CN109445451A - A method of for controlling the balancing device of more parallel control-moment gyros - Google Patents
A method of for controlling the balancing device of more parallel control-moment gyros Download PDFInfo
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- CN109445451A CN109445451A CN201811618950.5A CN201811618950A CN109445451A CN 109445451 A CN109445451 A CN 109445451A CN 201811618950 A CN201811618950 A CN 201811618950A CN 109445451 A CN109445451 A CN 109445451A
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- control
- moment
- motor
- balancing device
- ontology
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The invention discloses a kind of methods for controlling the balancing device of more parallel control-moment gyros, the balancing device includes ontology and at least two control-moment gyros, and motor and attitude transducer for driving the control-moment gyro are additionally provided on the ontology；Its method and step includes: to pass through the flywheel at the uniform velocity rotation of each control-moment gyro of the motor driven in balancing device operation；The dump angle data and angular velocity data of the ontology all directions are acquired by attitude transducer, and the minimum torque that ontology restores balance is calculated according to the dump angle data and angular velocity data；According to the minimum torque that the ontology restores balance, control the motor makes ontology restore balance to drive the universal wheel deflection outline border of the control-moment gyro that corresponding flywheel is driven to deflect.Run the balancing device of more parallel control-moment gyros in stable state by optimal control method, to improve system run all right.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of for controlling the flat of more parallel control-moment gyros
The method of weighing apparatus device.
Background technique
In recent years, the experts and scholars of ectoskeleton research and humanoid robot research field use for reference aerospace and use momentum
Switch (MEDs) solves biped robot's equilibrium problem.So-called momentum exchange device includes momenttum wheel, control moment top
Spiral shell, reaction wheel；As one kind of momentum exchange device, control-moment gyro (CMG), i.e. gyro driver, by using rotation
Turn the precession power of gyroscope generation and is used as actuator, rather than sensor.When torque is applied to the axis perpendicular to spin shaft
When upper, gyro driver can generate gyroscopic precession, also, generate gyro power around the torque axis third axis orthogonal with spin axis
Square.Gyro driver is widely used in the fields such as ship, space flight, Vehicle Engineering because of its gyroscopic inertia and stability.
However, gyro driver applications are exposed its limitation when the robot field, since control-moment gyro holds
Easily there is uncontrolled oscillation, gimbal lock is waited indefinitely phenomenon, lead to system fluctuation of service problem.
Summary of the invention
The embodiment of the invention provides a kind of methods for controlling the balancing device of more parallel control-moment gyros, are solved
Certainly the technical issues of is system fluctuation of service, so that the balancing device of more parallel control-moment gyros is existed by optimal control method
Stable state operation, to improve system run all right.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides one kind for controlling how parallel control-moment gyro
Balancing device method, the balancing device includes ontology and controller and at least one power on the ontology
Module, each power plant module include two control-moment gyros, and two control moment tops of the power plant module
The flywheel of spiral shell is in same level；Be additionally provided on the ontology for drive the control-moment gyro drive module and
For obtaining the attitude transducer of the ontology posture；
The method is executed by controller, is at least included the following steps:
In balancing device operation, drive the flywheel of each control-moment gyro even by the drive module
Fast rotation；
The dump angle data and angular velocity data in ontology front, rear, left and right direction are acquired by attitude transducer,
And the minimum torque that ontology restores balance is calculated according to the dump angle data and angular velocity data；
According to the minimum torque that the ontology restores balance, the drive module is controlled to drive the control-moment gyro
Universal wheel deflection outline border drive corresponding flywheel to deflect and ontology is made to restore balance.
Preferably, each control-moment gyro includes universal wheel deflection outline border and to be mounted on the universal wheel inclined
Turn the flywheel in outline border.
Preferably, described in balancing device operation, each control is controlled by the drive module
The at the uniform velocity rotation of the flywheel of moment gyro, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control-moment gyro
As right control-moment gyro；
In balancing device operation, the left control moment of each power plant module is controlled by the drive module
The flywheel of gyro at the uniform velocity rotation, universal wheel deflect outline border uniform rotation clockwise, the flywheel of right control-moment gyro at the uniform velocity rotation,
Universal wheel deflects outline border uniform rotation counterclockwise.
Preferably, the drive module includes first motor, the second motor and third motor, first electricity
Machine, second motor, the third motor quantity be at least two；
The flywheel of each control-moment gyro is controlled rotation by a corresponding first motor；
Using the universal wheel outline border of two control-moment gyros of each power plant module as:
The left universal wheel deflected by second motor control deflects outline border,
The right universal wheel deflected by a third motor control deflects outline border.
Preferably, the drive module includes first motor and the second motor, and the quantity of the first motor is extremely
It is two few；
Each flywheel is controlled rotation by a corresponding first motor；
The universal wheel deflection outline border of two control-moment gyros connects commonly through universal wheel deflection outline border link mechanism
It connects on the driving end of same second motor.
Preferably, the balancing device of more parallel control-moment gyros further include:
The angular transducer and encoder being mounted on the universal wheel deflection outline border；
The angular transducer is connect with the angle-data input terminal of the controller, inclined for detecting the universal wheel
Turn the angle of outline border；
The encoder is connect with the angular velocity data input terminal of the controller, for detecting the universal wheel deflection
The angular speed of outline border.
Compared with the prior art, the invention has the following beneficial effects:
The method for present embodiments providing the balancing device for controlling more parallel control-moment gyros, the posture sensing
Device detection body tilt angles and angular speed；According to the tilt angles of the ontology, calculate needed for the ontology restores balance
Gyroscopic couple；The angle and yaw rate that outline border is deflected by the universal wheel, in conjunction with the angular momentum of the flywheel rotation,
To synthesize required gyroscopic couple；Outline border small angle deflection is deflected by controlling the universal wheel, to eliminate gyro driver
Geometry singular point, so that the balancing device of more parallel control-moment gyros be made steadily to run；Inclined simultaneously according to the ontology
Angular speed variation in angle controls gyroscopic couple in advance, and then realizes that high dynamic response quickly recovers to equilibrium state.
Wherein, since multiple parallel control-moment gyros of the balancing device of more parallel control-moment gyros can mention
For biggish gyroscopic couple, therefore by controlling multiple parallel control-moment gyros, to coordinate each control-moment gyro
Gyroscopic couple, thus the bigger gyroscopic couple of synthesis.
Detailed description of the invention
Fig. 1 is the step process of the control method of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention
Figure；
Fig. 2 is the control flow of the control method of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention
Figure；
Fig. 3 is the falling-resistant control of the control method of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention
Flow chart processed；
Fig. 4 is the feedback regulation of the control method of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention
Schematic diagram；
Fig. 5 is the structure chart of the first angle of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention；
Fig. 6 is the structure chart of the second angle of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention；
Fig. 7 is the structure chart of the third angle of the balancing device of the how parallel control-moment gyro in the embodiment of the present invention；
Wherein, 1, flywheel；2, universal wheel deflects outline border；3, ontology.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 5-7 is referred to, the present invention provides a kind of for controlling the side of the balancing device of more parallel control-moment gyros
Method, the balancing device include ontology 3 and controller on the ontology 3 and at least one power plant module, each described
Power plant module includes two control-moment gyros, and the flywheel 1 of two control-moment gyros of the power plant module is in
In same level；Drive module for driving the control-moment gyro is additionally provided on the ontology 3 and for obtaining
State the attitude transducer of 3 posture of ontology.
Referring to Figure 1-4, the method is executed by controller, is at least included the following steps:
S101, the balancing device operation when, each control-moment gyro is driven by the drive module
The at the uniform velocity rotation of flywheel 1；
S102, the dump angle data and angular speed that the 3 front, rear, left and right direction of ontology is acquired by attitude transducer
Data, and the minimum torque that ontology 3 restores balance is calculated according to the dump angle data and angular velocity data；
S103, the minimum torque to be restored balance according to the ontology 3 control the drive module to drive the control force
The universal wheel deflection outline border 2 of square gyro drives corresponding flywheel 1 to deflect and ontology is made to restore balance.
Specifically, described in balancing device operation, each control moment is controlled by the drive module
The at the uniform velocity rotation of flywheel 1 of gyro, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control-moment gyro
As right control-moment gyro；
In balancing device operation, the left control moment of each power plant module is controlled by the drive module
The flywheel 1 of gyro at the uniform velocity rotation, universal wheel deflect the uniform rotation clockwise of outline border 2, and the flywheel 1 of right control-moment gyro is at the uniform velocity certainly
Turn, universal wheel deflects the uniform rotation counterclockwise of outline border 2.
Wherein, the angular momentum of the flywheel rotation, in conjunction with deflection outline border high deflection angle degree, synthesize larger gyroscopic couple with
Resistance is fallen down.
Specifically, the controller executes calculating by algorithm, and the algorithm includes following formula:
Formula 1:
mu1=mb1
mu2=mu2
ru=rb
Calculate flywheel spin velocity: (being positive clockwise)
Formula 2:
Calculate gyroscopic procession angular speed: (outline border deflection, be positive clockwise)
Formula 3: φ '
Calculate Rotary Inertia of Flywheel:
Formula 4:
Calculate flywheel spin angular momentaum:
Formula 5:
|LQ1|=| Izψ ' | (direction: negative direction of the y-axis)
Formula 6:
|LQ2|=| LQ1| (direction: positive direction of the y-axis)
Calculate gyroscopic couple: formula 7:
MQ1=Izφ'ψ'
MQ2=Izφ'ψ'
∑MQ=MQ1+MQ2Fig. 5 is referred to, is l apart from variable；This weight is m3；
Formula 8:
M1=m1gl1sinα
M2=m2gl2sinα
M3=m3gl3sinα
Formula 9:
m1=mu1+mu2
m2=mb1+mb2
m3
It calculates gravity and generates resultant moment:
Formula 10:
∑MO=M1+M2+M3
=gsin α (m1l1+m2l2+m3l3) calculate revolving speed and angular speed:
Formula 11:
ω=(rad/s)
(revolving speed per minute, rpm, Revolutions Per Minute)
Calculate gyro resultant moment:
Formula 12:
∑MQ=MQ1+MQ2
=Izφ'ψ'+Izφ'ψ'
=2Izφ'ψ'
Formula 13: ∑ MQ>∑MO
The minimum outline border deflection angle and yaw rate found out with formula 13 is control target, to realize in a direction
Self-balancing.
As first preferred embodiment, the balancing device of more parallel control-moment gyros includes ontology 3 and is set to institute
State the controller and two control-moment gyros on ontology 3；Each control-moment gyro includes universal wheel deflection outline border
2 and the flywheel 1 that is mounted in universal wheel deflection outline border 2；The flywheel 1 of two control-moment gyros is in same level
On face；Attitude transducer, first motor, the second motor and for obtaining 3 posture of ontology are additionally provided on the ontology 3
Three motors；
The corresponding first motor of each described flywheel 1, and it is mounted on the first motor driving end；Every a pair
Corresponding second motor of one of them described universal wheel outline border, and be mounted on the driving end of second motor；Separately
The corresponding third motor of one universal wheel outline border, and it is mounted on the driving end of the third motor；The posture
Sensor is connect with the input terminal of the controller；The first motor, second motor, the third motor are correspondingly connected with
The first output end, second output terminal, the third output end of the controller.
Specifically, for controlling the method for the balancing device of more parallel control-moment gyro the following steps are included:
The balancing device energization of more parallel control-moment gyros is started and carried out reset operation；By first motor,
Control 1 rotation of flywheel；The data of tilt angle and angular speed are acquired by attitude transducer；By the second motor, one is controlled
Universal wheel outline border；By third motor, another universal wheel outline border is controlled；According to the data, coordinate two universal wheel outline borders
Tilt angle and angular speed.
As the second preferred embodiment, the balancing device of more parallel control-moment gyros includes ontology 3 and is set to institute
State the controller and two control-moment gyros on ontology 3；Each control-moment gyro includes universal wheel deflection outline border
2 and the flywheel 1 that is mounted in universal wheel deflection outline border 2；The flywheel 1 of two control-moment gyros is in same level
On face；Attitude transducer, first motor and the second motor for obtaining 3 posture of ontology are additionally provided on the ontology 3；Often
The corresponding first motor of one flywheel 1, and it is mounted on the first motor driving end；Each described second electricity
Corresponding a pair of of the universal wheel outline border of machine, and second motor passes through a pair of universal wheel outline border of link mechanism driving；It is described
First motor, second motor are correspondingly connected with the first output end of the controller, second output terminal.
Specifically, for controlling the method for the balancing device of more parallel control-moment gyro the following steps are included:
The balancing device energization of more parallel control-moment gyros is started and carried out reset operation；By first motor,
Control 1 rotation of flywheel；The data of tilt angle and angular speed are acquired by attitude transducer；By the second motor, control is a pair of
Universal wheel outline border, and the tilt angle and angular speed of the universal wheel outline border according to the data point reuse.
As a preferred embodiment, the balancing device of more parallel control-moment gyros further include:
The angular transducer and encoder being mounted on the universal wheel deflection outline border；
The angular transducer is connect with the angle-data input terminal of the controller, inclined for detecting the universal wheel
Turn the angle of outline border；
The encoder is connect with the angular velocity data input terminal of the controller, for detecting the universal wheel deflection
The angular speed of outline border.
The invention has the following beneficial effects:
The method for present embodiments providing the balancing device for controlling more parallel control-moment gyros, the posture sensing
Device detection body tilt angles and angular speed；According to the tilt angles of the ontology, calculate needed for the ontology restores balance
Gyroscopic couple；The angle and yaw rate that outline border is deflected by the universal wheel, in conjunction with the angular momentum of the flywheel rotation,
To synthesize required gyroscopic couple；Outline border small angle deflection is deflected by controlling the universal wheel, to eliminate gyro driver
Geometry singular point, so that the balancing device of more parallel control-moment gyros be made steadily to run；Inclined simultaneously according to the ontology
Angular speed variation in angle controls gyroscopic couple in advance, and then realizes that high dynamic response quickly recovers to equilibrium state.
Wherein, since multiple parallel control-moment gyros of the balancing device of more parallel control-moment gyros can mention
For biggish gyroscopic couple, therefore by controlling multiple parallel control-moment gyros, to coordinate each control-moment gyro
Gyroscopic couple, thus the bigger gyroscopic couple of synthesis.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (6)
1. a kind of method for controlling the balancing device of more parallel control-moment gyros, which is characterized in that the balancing device
Controller and at least one power plant module including ontology and on the ontology, each power plant module include two
Control-moment gyro, and the flywheel of two control-moment gyros of the power plant module is in same level；It is described
It is additionally provided with the drive module for driving the control-moment gyro on ontology and the posture for obtaining the ontology posture passes
Sensor；
The method is executed by controller, is at least included the following steps:
In balancing device operation, the flywheel of each control-moment gyro is driven at the uniform velocity certainly by the drive module
Turn；
The dump angle data and angular velocity data in ontology front, rear, left and right direction, and root are acquired by attitude transducer
The minimum torque that ontology restores balance is calculated according to the dump angle data and angular velocity data；
According to the minimum torque that the ontology restores balance, the drive module is controlled to drive the ten thousand of the control-moment gyro
It drives corresponding flywheel to deflect to wheel deflection outline border and ontology is made to restore balance.
2. the method as described in claim 1 for controlling the balancing device of more parallel control-moment gyros, which is characterized in that
Each control-moment gyro includes the flywheel that universal wheel deflects outline border and is mounted in the universal wheel deflection outline border.
3. the method as described in claim 1 for controlling the balancing device of more parallel control-moment gyros, which is characterized in that
It is described in balancing device operation, by the drive module control the flywheel of each control-moment gyro at the uniform velocity from
Turn, specifically:
Using a control-moment gyro of the power plant module as left control-moment gyro, another control-moment gyro conduct
Right control-moment gyro；
In balancing device operation, the left control-moment gyro of each power plant module is controlled by the drive module
Flywheel at the uniform velocity rotation, universal wheel deflect outline border uniform rotation clockwise, the at the uniform velocity rotation, universal of the flywheel of right control-moment gyro
Wheel deflection outline border uniform rotation counterclockwise.
4. the method as described in claim 1 for controlling the balancing device of more parallel control-moment gyros, which is characterized in that
The drive module includes first motor, the second motor and third motor, the first motor, second motor, described
The quantity of third motor is at least two；
The flywheel of each control-moment gyro is controlled rotation by a corresponding first motor；
Using the universal wheel outline border of two control-moment gyros of each power plant module as:
The left universal wheel deflected by second motor control deflects outline border,
The right universal wheel deflected by a third motor control deflects outline border.
5. the method as described in claim 1 for controlling the balancing device of more parallel control-moment gyros, which is characterized in that
The drive module includes first motor and the second motor, and the quantity of the first motor is at least two；
Each flywheel is controlled rotation by a corresponding first motor；
The universal wheel deflection outline border of two control-moment gyros is connected to commonly through universal wheel deflection outline border link mechanism
On the driving end of same second motor.
6. the method as described in claim 1 for controlling the balancing device of more parallel control-moment gyros, which is characterized in that
The balancing device of more parallel control-moment gyros further include:
The angular transducer and encoder being mounted on the universal wheel deflection outline border；
The angular transducer is connect with the angle-data input terminal of the controller, outer for detecting the universal wheel deflection
The angle of frame；
The encoder is connect with the angular velocity data input terminal of the controller, for detecting the universal wheel deflection outline border
Angular speed.
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| CN110888444A (en) * | 2019-12-04 | 2020-03-17 | 腾讯科技（深圳）有限公司 | Self-balancing running device and control method thereof |
| CN112137843A (en) * | 2019-06-26 | 2020-12-29 | 纬创资通股份有限公司 | Balance auxiliary system and wearable device |
| CN113867132A (en) * | 2021-10-12 | 2021-12-31 | 浙江大学 | Circular-disc underwater robot posture stabilizing and adjusting system and control method |
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| CN113867132B (en) * | 2021-10-12 | 2024-02-27 | 浙江大学 | System for stabilizing and adjusting posture of circular disc-shaped underwater robot and control method |
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| Publication number | Publication date |
|---|---|
| CN109445451B (en) | 2021-09-17 |
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